Related: RT-2 ([1]). The RoboAgent compares itself with RT-1, but not with RT-2, which is a big improvement upon RT-1.

Disclaimer: I work in the same group that made RT-1 and RT-2, but not a direct contributor to that work.

1. https://www.deepmind.com/blog/rt-2-new-model-translates-visi...